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148 lines
3.2 KiB
148 lines
3.2 KiB
#pragma once
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#include <optional>
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#include <QGeoCoordinate>
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#include <QGeoManeuver>
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#include <QGeoRouteRequest>
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#include <QGeoRouteSegment>
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#include <QGeoRoutingManager>
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#include <QGeoServiceProvider>
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#include <QGestureEvent>
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#include <QHBoxLayout>
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#include <QVBoxLayout>
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#include <QLabel>
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#include <QMapboxGL>
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#include <QMouseEvent>
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#include <QOpenGLWidget>
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#include <QScopedPointer>
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#include <QString>
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#include <QtGlobal>
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#include <QTimer>
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#include <QWheelEvent>
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#include <QMap>
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#include <QPixmap>
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#include "selfdrive/common/params.h"
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#include "selfdrive/common/util.h"
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#include "cereal/messaging/messaging.h"
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class MapInstructions : public QWidget {
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Q_OBJECT
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private:
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QLabel *distance;
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QLabel *primary;
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QLabel *secondary;
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QLabel *icon_01;
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QHBoxLayout *lane_layout;
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QMap<QString, QVariant> last_banner;
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bool error = false;
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public:
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MapInstructions(QWidget * parent=nullptr);
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void showError(QString error);
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void hideIfNoError();
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public slots:
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void updateDistance(float d);
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void updateInstructions(QMap<QString, QVariant> banner, bool full);
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};
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class MapETA : public QWidget {
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Q_OBJECT
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private:
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QLabel *eta;
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QLabel *eta_unit;
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QLabel *time;
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QLabel *time_unit;
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QLabel *distance;
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QLabel *distance_unit;
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Params params;
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public:
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MapETA(QWidget * parent=nullptr);
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public slots:
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void updateETA(float seconds, float seconds_typical, float distance);
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};
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class MapWindow : public QOpenGLWidget {
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Q_OBJECT
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public:
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MapWindow(const QMapboxGLSettings &);
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~MapWindow();
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private:
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void initializeGL() final;
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void paintGL() final;
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void resizeGL(int w, int h) override;
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QMapboxGLSettings m_settings;
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QScopedPointer<QMapboxGL> m_map;
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void initLayers();
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void mousePressEvent(QMouseEvent *ev) final;
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void mouseDoubleClickEvent(QMouseEvent *ev) final;
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void mouseMoveEvent(QMouseEvent *ev) final;
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void wheelEvent(QWheelEvent *ev) final;
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bool event(QEvent *event) final;
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bool gestureEvent(QGestureEvent *event);
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void pinchTriggered(QPinchGesture *gesture);
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bool m_sourceAdded = false;
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SubMaster *sm;
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QTimer* timer;
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bool loaded_once = false;
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// Panning
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QPointF m_lastPos;
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int pan_counter = 0;
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int zoom_counter = 0;
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// Position
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std::optional<QMapbox::Coordinate> last_position;
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std::optional<float> last_bearing;
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FirstOrderFilter velocity_filter;
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bool localizer_valid = false;
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// Route
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bool allow_open = true;
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bool gps_ok = false;
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QGeoServiceProvider *geoservice_provider;
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QGeoRoutingManager *routing_manager;
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QGeoRoute route;
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QGeoRouteSegment segment;
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MapInstructions* map_instructions;
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MapETA* map_eta;
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QMapbox::Coordinate nav_destination;
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// Route recompute
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QTimer* recompute_timer;
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int recompute_backoff = 0;
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int recompute_countdown = 0;
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void calculateRoute(QMapbox::Coordinate destination);
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void clearRoute();
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bool shouldRecompute();
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void updateETA();
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private slots:
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void timerUpdate();
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void routeCalculated(QGeoRouteReply *reply);
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void recomputeRoute();
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public slots:
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void offroadTransition(bool offroad);
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signals:
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void distanceChanged(float distance);
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void instructionsChanged(QMap<QString, QVariant> banner, bool full);
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void ETAChanged(float seconds, float seconds_typical, float distance);
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};
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